sudo apt update
sudo apt install ros-galactic-tf-transformations ros-galactic-sensor-msgs-py
pip3 install transforms3d pykitti opencv-python
create_bag.py can be used to generate a ros2 bag using KITTI dataset. Set base_dir, date, and drive accordingly.
pcd_mapping can be used to generate a pcd map. Set pose_paths, pcd_paths, and path to save the map accrodingly.